00001 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved 00002 * Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00005 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00006 * and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: 00007 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00008 * 00009 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00010 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 00011 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00012 */ 00013 00014 #ifndef CONDITIONNODE_H 00015 #define CONDITIONNODE_H 00016 00017 #include "leaf_node.h" 00018 00019 namespace BT 00020 { 00021 class ConditionNode : public LeafNode 00022 { 00023 public: 00024 ConditionNode(const std::string& name, const NodeConfiguration& config); 00025 00026 virtual ~ConditionNode() override = default; 00027 00028 //Do nothing 00029 virtual void halt() override final 00030 { 00031 // just in case, but it should not be needed 00032 setStatus(NodeStatus::IDLE); 00033 } 00034 00035 virtual NodeType type() const override final 00036 { 00037 return NodeType::CONDITION; 00038 } 00039 }; 00040 00052 class SimpleConditionNode : public ConditionNode 00053 { 00054 public: 00055 typedef std::function<NodeStatus(TreeNode&)> TickFunctor; 00056 00057 // You must provide the function to call when tick() is invoked 00058 SimpleConditionNode(const std::string& name, TickFunctor tick_functor, 00059 const NodeConfiguration& config); 00060 00061 ~SimpleConditionNode() override = default; 00062 00063 protected: 00064 virtual NodeStatus tick() override; 00065 00066 TickFunctor tick_functor_; 00067 }; 00068 } 00069 00070 #endif